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/*
* Copyright (c) 2005 Erwin Coumans http://www.erwincoumans.com
*
* Permission to use, copy, modify, distribute and sell this software
* and its documentation for any purpose is hereby granted without fee,
* provided that the above copyright notice appear in all copies.
* Erwin Coumans makes no representations about the suitability
* of this software for any purpose.
* It is provided "as is" without express or implied warranty.
*/
#ifndef SUBSIMPLEX_CONVEX_CAST_H
#define SUBSIMPLEX_CONVEX_CAST_H
#include "ConvexCast.h"
#include "SimplexSolverInterface.h"
class ConvexShape;
/// SubsimplexConvexCast implements Gino van den Bergens' paper
/// GJK based Ray Cast, optimized version
class SubsimplexConvexCast : public ConvexCast
{
SimplexSolverInterface* m_simplexSolver;
ConvexShape* m_convexA;
ConvexShape* m_convexB;
public:
SubsimplexConvexCast (ConvexShape* shapeA,ConvexShape* shapeB,SimplexSolverInterface* simplexSolver);
//virtual ~SubsimplexConvexCast();
virtual bool calcTimeOfImpact(
const SimdTransform& fromA,
const SimdTransform& toA,
const SimdTransform& fromB,
const SimdTransform& toB,
CastResult& result);
};
#endif //SUBSIMPLEX_CONVEX_CAST_H
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